/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Modified and adapted by
 *  Copyright (c) 2015, Autonomous Systems Lab / ETH Zurich
 *
 *  Original Copyright (c) 2008, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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 *********************************************************************/
/*
 *  Modified: Stefan Leutenegger (s.leutenegger@imperial.ac.uk)
 *  Modified: Andreas Forster (an.forster@gmail.com)
 */

/**
 * @file okvis/Duration.hpp
 * @brief Header file for the DurationBase, Duration and WallDuration class.
 * @author Willow Garage Inc.
 * @author Stefan Leutenegger
 * @author Andreas Forster
 */


#ifndef INCLUDE_OKVIS_DURATION_HPP_
#define INCLUDE_OKVIS_DURATION_HPP_

/*********************************************************************
 ** Pragmas
 *********************************************************************/

#ifdef _MSC_VER
// Okvistime has some magic interface that doesn't directly include
// its implementation, this just disbales those warnings.
#pragma warning(disable: 4244)
#pragma warning(disable: 4661)
#endif

#include <iostream>
#include <math.h>
#include <stdexcept>
#include <climits>
#include <stdint.h>
//#include "rostime_decl.h"

/// \brief okvis Main namespace of this package.
namespace okvis {
void normalizeSecNSecSigned(int64_t& sec, int64_t& nsec);
void normalizeSecNSecSigned(int32_t& sec, int32_t& nsec);

/**
 * \brief Base class for Duration implementations.  Provides storage, common functions and operator overloads.
 * This should not need to be used directly.
 */
template<class T>
class DurationBase {
 public:
  int32_t sec, nsec;
  DurationBase()
      : sec(0),
        nsec(0) {
  }
  DurationBase(int32_t _sec, int32_t _nsec);
  explicit DurationBase(double t) {
    fromSec(t);
  }
  ;
  ~DurationBase() {
  }
  T operator+(const T &rhs) const;
  T operator-(const T &rhs) const;
  T operator-() const;
  T operator*(double scale) const;
  T& operator+=(const T &rhs);
  T& operator-=(const T &rhs);
  T& operator*=(double scale);
  bool operator==(const T &rhs) const;
  inline bool operator!=(const T &rhs) const {
    return !(*static_cast<const T*>(this) == rhs);
  }
  bool operator>(const T &rhs) const;
  bool operator<(const T &rhs) const;
  bool operator>=(const T &rhs) const;
  bool operator<=(const T &rhs) const;
  double toSec() const {
    return (double) sec + 1e-9 * (double) nsec;
  }
  ;
  int64_t toNSec() const {
    return (int64_t) sec * 1000000000ll + (int64_t) nsec;
  }
  ;
  T& fromSec(double t);
  T& fromNSec(int64_t t);
  bool isZero();
};

class Rate;

/**
 * \brief Duration representation for use with the Time class.
 *
 * okvis::DurationBase provides most of its functionality.
 */
class Duration : public DurationBase<Duration> {
 public:
  Duration()
      : DurationBase<Duration>() {
  }

  Duration(int32_t _sec, int32_t _nsec)
      : DurationBase<Duration>(_sec, _nsec) {
  }

  explicit Duration(double t) {
    fromSec(t);
  }
  explicit Duration(const Rate&);
  /**
   * \brief sleep for the amount of time specified by this Duration.  If a signal interrupts the sleep, resleeps for the time remaining.
   */
  bool sleep() const;
};

extern const Duration DURATION_MAX;
extern const Duration DURATION_MIN;

/**
 * \brief Duration representation for use with the WallTime class.
 *
 * okvis::DurationBase provides most of its functionality.
 */
class WallDuration : public DurationBase<WallDuration> {
 public:
  WallDuration()
      : DurationBase<WallDuration>() {
  }

  WallDuration(int32_t _sec, int32_t _nsec)
      : DurationBase<WallDuration>(_sec, _nsec) {
  }

  explicit WallDuration(double t) {
    fromSec(t);
  }
  explicit WallDuration(const Rate&);
  /**
   * \brief sleep for the amount of time specified by this Duration.  If a signal interrupts the sleep, resleeps for the time remaining.
   */
  bool sleep() const;
};

std::ostream &operator <<(std::ostream &os, const Duration &rhs);
std::ostream &operator <<(std::ostream &os, const WallDuration &rhs);

}

#endif // INCLUDE_OKVIS_DURATION_HPP_

